CN113892865A - Cleaning strategy generation method and device for cleaning robot - Google Patents
Cleaning strategy generation method and device for cleaning robot Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000004891 communication Methods 0.000 claims abstract description 100
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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Abstract
The application relates to a cleaning strategy generation method, a cleaning strategy generation device, computer equipment and a storage medium of a cleaning robot, wherein the method comprises the following steps: acquiring a traceless cleaning map corresponding to the traceless cleaning mode; identifying the communication condition of each cleaning unit according to the traceless cleaning map; determining the type of the cleaning unit corresponding to each cleaning unit based on the communication condition of each cleaning unit; determining the cleaning priority of each cleaning unit according to the cleaning unit type corresponding to each cleaning unit and a preset cleaning unit type priority rule, wherein the preset cleaning unit type priority rule is set based on the purpose of avoiding secondary pollution; and generating a cleaning strategy according to the cleaning priority of each cleaning unit. In the whole process, the cleaning unit type corresponding to each cleaning unit is determined based on the communication condition of each cleaning unit, the cleaning priority of each cleaning unit is determined with the aim of avoiding secondary pollution, and the generated cleaning strategy can effectively avoid the secondary pollution.
Description
Technical Field
The present disclosure relates to the field of cleaning robots, and in particular, to a method and an apparatus for generating a cleaning strategy of a cleaning robot, a computer device, and a storage medium.
Background
The cleaning robot supports two functions of sweeping and mopping, and can sweep and mop integrally or separately.
When cleaning each room of a known map, the existing cleaning robot lacks room planning management, so that the path planning is single, the phenomenon of frequently returning and returning the cleaned room occurs, and secondary pollution of the cleaned room is easily caused (the dirty mop passes the cleaned room again or for multiple times).
Disclosure of Invention
Based on this, it is necessary to provide a cleaning robot cleaning strategy generation method, apparatus, computer device and storage medium capable of avoiding secondary pollution in order to solve the technical problem that the conventional cleaning robot cleaning strategy is easy to cause secondary pollution.
A cleaning robot cleaning strategy generation method, the method comprising:
acquiring a traceless cleaning map corresponding to the traceless cleaning mode;
identifying the communication condition of each cleaning unit according to the traceless cleaning map;
determining the type of the cleaning unit corresponding to each cleaning unit based on the communication condition of each cleaning unit;
determining the cleaning priority of each cleaning unit according to the cleaning unit type corresponding to each cleaning unit and a preset cleaning unit type priority rule, wherein the preset cleaning unit type priority rule is set based on the purpose of avoiding secondary pollution;
and generating a cleaning strategy according to the cleaning priority of each cleaning unit.
In one embodiment, before determining the cleaning unit type corresponding to each cleaning unit based on the communication condition of each cleaning unit, the method further includes:
determining the position of a charging pile cleaning unit according to the traceless cleaning map, wherein the charging pile cleaning unit is a cleaning unit where the charging pile is located;
based on the communication condition of each cleaning unit, determining the type of the cleaning unit corresponding to each cleaning unit comprises:
and determining the type of the cleaning unit corresponding to each cleaning unit according to the position of the charging pile cleaning unit and the communication condition of each cleaning unit.
In one embodiment, the cleaning unit types include a charging pile cleaning unit, a non-charging pile and non-multiple communication cleaning unit, a real multiple communication cleaning unit and a quasi multiple communication cleaning unit;
real many clean units that ally oneself with are for having a plurality of passageways and with fill the clean unit of the direct UNICOM of electric pile clean unit, accurate many clean units that ally oneself with are for having a plurality of passageways and not with the clean unit of the direct UNICOM of electric pile clean unit.
In one embodiment, the preset cleaning unit type priority rule represents that the priority is a non-charging pile, the priority is a first priority for a non-multi-communication cleaning unit, the priority is a second priority for a quasi-multi-communication cleaning unit, the priority is a third priority for a true multi-communication cleaning unit, and the priority is a fourth priority for a charging pile cleaning unit; the priorities corresponding to the first priority, the second priority, the third priority and the fourth priority are sequentially reduced.
In one embodiment, acquiring a traceless cleaning map corresponding to the traceless cleaning mode comprises:
acquiring a cleaning task;
and responding to the cleaning task, executing the operation of the traceless cleaning mode, and acquiring a traceless cleaning map corresponding to the traceless cleaning mode.
In one embodiment, the method for generating a cleaning strategy of a cleaning robot further includes:
acquiring a task map corresponding to a cleaning task;
matching the task map with a historical map corresponding to the historical operation;
if the matching is successful, entering a response cleaning task, executing a seamless cleaning mode operation, and acquiring a seamless cleaning map corresponding to the seamless cleaning mode;
if the matching is not successful, then a global clean is performed.
In one embodiment, generating the cleaning strategy according to the cleaning priority of each cleaning unit comprises:
generating an initial cleaning sequence according to the cleaning priority of each cleaning unit;
identifying cleaning units of the same priority in an initial cleaning sequence;
acquiring the distance from the charging pile to each cleaning unit with the same priority;
adjusting the cleaning sequence corresponding to each cleaning unit with the same priority according to the distance to correct the initial cleaning sequence to obtain a cleaning sequence, wherein the cleaning units with the same priority corresponding to the farther distance are cleaned earlier;
and generating a cleaning strategy according to the cleaning sequence.
A cleaning robot cleaning strategy generating apparatus, the apparatus comprising:
the map acquisition module is used for acquiring a traceless clean map corresponding to the traceless clean mode;
the communication identification module is used for identifying the communication condition of each cleaning unit according to the traceless cleaning map;
the type identification module is used for determining the type of the cleaning unit corresponding to each cleaning unit based on the communication condition of each cleaning unit;
the cleaning system comprises a priority determining module, a cleaning unit judging module and a cleaning unit judging module, wherein the priority determining module is used for determining the cleaning priority of each cleaning unit according to the cleaning unit type corresponding to each cleaning unit and a preset cleaning unit type priority rule, and the preset cleaning unit type priority rule is set based on the purpose of avoiding secondary pollution;
and the strategy generation module is used for generating a cleaning strategy according to the cleaning priority of each cleaning unit.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring a traceless cleaning map corresponding to the traceless cleaning mode;
identifying the communication condition of each cleaning unit according to the traceless cleaning map;
determining the type of the cleaning unit corresponding to each cleaning unit based on the communication condition of each cleaning unit;
determining the cleaning priority of each cleaning unit according to the cleaning unit type corresponding to each cleaning unit and a preset cleaning unit type priority rule, wherein the preset cleaning unit type priority rule is set based on the purpose of avoiding secondary pollution;
and generating a cleaning strategy according to the cleaning priority of each cleaning unit.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring a traceless cleaning map corresponding to the traceless cleaning mode;
identifying the communication condition of each cleaning unit according to the traceless cleaning map;
determining the type of the cleaning unit corresponding to each cleaning unit based on the communication condition of each cleaning unit;
determining the cleaning priority of each cleaning unit according to the cleaning unit type corresponding to each cleaning unit and a preset cleaning unit type priority rule, wherein the preset cleaning unit type priority rule is set based on the purpose of avoiding secondary pollution;
and generating a cleaning strategy according to the cleaning priority of each cleaning unit.
The cleaning strategy generating method and device for the cleaning robot, the computer equipment and the storage medium obtain a traceless cleaning map corresponding to the traceless cleaning mode; identifying the communication condition of each cleaning unit according to the traceless cleaning map; determining the type of the cleaning unit corresponding to each cleaning unit based on the communication condition of each cleaning unit; determining the cleaning priority of each cleaning unit according to the cleaning unit type corresponding to each cleaning unit and a preset cleaning unit type priority rule, wherein the preset cleaning unit type priority rule is set based on the purpose of avoiding secondary pollution; and generating a cleaning strategy according to the cleaning priority of each cleaning unit. In the whole process, the cleaning unit type corresponding to each cleaning unit is determined based on the communication condition of each cleaning unit, the cleaning priority of each cleaning unit is determined with the aim of avoiding secondary pollution, and the generated cleaning strategy can effectively avoid the secondary pollution.
Drawings
FIG. 1 is a diagram of an application environment of a cleaning strategy generation method of a cleaning robot in one embodiment;
FIG. 2 is a schematic flow chart diagram of a cleaning strategy generation method for a cleaning robot in one embodiment;
FIG. 3 is a schematic view of the whole house 1;
FIG. 4 is a flowchart illustrating a cleaning strategy generating method of a cleaning robot in accordance with another embodiment;
FIG. 5 is a schematic sub-flow chart of S500 in one embodiment;
FIG. 6 is a flow chart illustrating a method for generating a cleaning strategy for a cleaning robot according to an exemplary embodiment;
FIG. 7 is a schematic view of the whole house 2;
FIG. 8 is a schematic view of the whole house 3;
fig. 9 is a block diagram showing the structure of a cleaning strategy generating apparatus of the cleaning robot in one embodiment;
FIG. 10 is a diagram showing an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The cleaning robot cleaning strategy generation method provided by the application can be applied to the application environment shown in fig. 1, and is particularly applied to a scene that a cleaning robot cleans a whole house, wherein each room of the whole house is taken as an independent cleaning unit under the scene. The cleaning robot responds to the operation of a user and starts to perform seamless cleaning, and the cleaning robot acquires a seamless cleaning map corresponding to a seamless cleaning mode; identifying the communication condition of each cleaning unit according to the traceless cleaning map; determining the type of the cleaning unit corresponding to each cleaning unit based on the communication condition of each cleaning unit; determining the cleaning priority of each cleaning unit according to the cleaning unit type corresponding to each cleaning unit and a preset cleaning unit type priority rule, wherein the preset cleaning unit type priority rule is set based on the purpose of avoiding secondary pollution; and generating a cleaning strategy according to the cleaning priority of each cleaning unit. Further, the cleaning robot performs the whole-house cleaning according to the cleaning strategy after determining the cleaning strategy.
In one embodiment, as shown in fig. 2, there is provided a cleaning robot cleaning strategy generating method, which is described by applying the method to the cleaning robot in fig. 1, and includes the following steps:
s100: and acquiring a traceless cleaning map corresponding to the traceless cleaning mode.
By a traceless cleaning mode is meant a cleaning mode without specific cleaning actions, which may be understood as that the cleaning components (roller brush, mop, etc.) of the cleaning robot are not working (lifting), the cleaning robot is "run through" purely as the area (whole house) to be cleaned is. The purpose of the traceless cleaning mode is to enable the cleaning robot to accurately detect the map corresponding to the cleaning of the whole area, so as to identify the condition of each cleaning unit in the following.
S200: and identifying the communication condition of each cleaning unit according to the traceless cleaning map.
The cleaning unit is an area which is correspondingly finished by one-time cleaning, taking whole-house cleaning as an example, each room can be taken as an independent cleaning unit, namely, firstly, a cleaning robot carries out seamless cleaning on the whole house by adopting a seamless cleaning mode to obtain a seamless cleaning map of the whole house, and the condition of each room of the whole house is identified based on the seamless cleaning map, and the important point is that the communication condition of each room needs to be identified. The communication situation is whether there are multiple communication (door exists) channels between each cleaning unit (room) and other cleaning units, and if there are multiple communication channels, there are communication channels with which cleaning units. Continuing with the whole-house cleaning example, as shown in fig. 3, in the whole house 1, the room 5 communicates with the room 1, the room 2, the room 3, the room 4, and the room 6, respectively, and the room 1, the room 2, the room 3, the room 4, and the room 6 are all connected only to the room 5.
S300: and determining the type of the cleaning unit corresponding to each cleaning unit based on the communication condition of each cleaning unit.
And identifying the type of the cleaning unit corresponding to each cleaning unit based on the communication condition of each cleaning unit. The cleaning units of different cleaning unit types have different corresponding cleaning priorities, and the cleaning unit type is identified so that a cleaning strategy which can effectively avoid secondary pollution can be generated based on the cleaning unit type. Specifically, the cleaning unit types comprise a charging pile cleaning unit, a non-charging pile and non-multiple communication cleaning unit, a real multiple communication cleaning unit and a quasi multiple communication cleaning unit, wherein the charging pile cleaning unit is a cleaning unit where a charging pile is located, the non-charging pile and non-multiple communication cleaning unit (non-charging pile cleaning unit for short) is a cleaning unit where a non-charging pile is located, the cleaning unit is directly communicated with a single other single cleaning unit, and the quasi multiple communication cleaning unit is communicated with a plurality of other cleaning units but not directly communicated with the charging pile cleaning unit; the real multi-communication cleaning unit is directly communicated with a plurality of other cleaning units and the charging pile cleaning unit. To illustrate the above types in detail, continuing with fig. 3 as an example, in the whole house 1 shown in fig. 3, the room 6 is a charging pile room; room 1, room 2, room 3 and room 4 belong to the non-room of charging and room 1 belongs to the non-room of charging and non-multi-communication room, room 2, room 3 and room 4 belong to the room of quasi-multi-communication, and room 5 belongs to the room of real multi-communication.
S400: and determining the cleaning priority of each cleaning unit according to the cleaning unit type corresponding to each cleaning unit and a preset cleaning unit type priority rule, wherein the preset cleaning unit type priority rule is set based on the purpose of avoiding secondary pollution.
The preset cleaning unit type priority rule is used to determine the cleaning priority of each type of cleaning unit, i.e., to determine the cleaning order of each type of cleaning unit, which is set as a rule/for the purpose of avoiding secondary pollution. The secondary pollution is a result of the cleaning robot passing through the cleaned cleaning units, so the purpose of presetting the cleaning unit type priority rule can be simply understood as reasonably setting the priority of each type of cleaning units to realize orderly cleaning of each cleaning unit, and avoid the cleaning units which have already been cleaned from being passed through the aisle (path) of the cleaning robot in subsequent operation.
In particular, since the cleaning robot is generally started from the charging pile (or not, of course), and returned to the charging pile after completing the cleaning task, the charging pile cleaning unit is most vulnerable to secondary contamination, and therefore it requires final cleaning; after the non-charging pile and the non-multi-communication cleaning unit only need to finish cleaning, the subsequent cleaning robot can not pass by any more, so that the cleaning robot is least prone to secondary pollution and can clean firstly; the quasi multi-communication cleaning unit does not need to serve as a passage for the cleaning robot to return to the charging pile position, so that compared with a real multi-communication cleaning unit, the quasi multi-communication cleaning unit can be cleaned firstly; the real multi-communication cleaning unit, which is used as a 'must path' for the cleaning robot to return to the charging pile cleaning unit from other cleaning units, belongs to a cleaning unit which is easy to suffer secondary pollution. Therefore, based on the analysis, it can be known that the preset cleaning unit type priority rule specifically includes charging pile cleaning units, real multi-communication cleaning units, quasi multi-communication cleaning units, non-charging piles and non-multi-communication cleaning units, the cleaning priority of the cleaning piles is sequentially increased, the cleaning piles and the non-multi-communication cleaning units are preferentially cleaned, and finally the cleaning piles are cleaned.
S500: and generating a cleaning strategy according to the cleaning priority of each cleaning unit.
After the cleaning priority of each cleaning unit is determined, a cleaning sequence is established according to the cleaning priority, and a cleaning path is planned to generate a cleaning strategy.
The cleaning strategy generating method of the cleaning robot obtains a traceless cleaning map corresponding to the traceless cleaning mode; identifying the communication condition of each cleaning unit according to the traceless cleaning map; determining the type of the cleaning unit corresponding to each cleaning unit based on the communication condition of each cleaning unit; determining the cleaning priority of each cleaning unit according to the cleaning unit type corresponding to each cleaning unit and a preset cleaning unit type priority rule, wherein the preset cleaning unit type priority rule is set based on the purpose of avoiding secondary pollution; and generating a cleaning strategy according to the cleaning priority of each cleaning unit. In the whole process, the cleaning unit type corresponding to each cleaning unit is determined based on the communication condition of each cleaning unit, the cleaning priority of each cleaning unit is determined with the aim of avoiding secondary pollution, and the generated cleaning strategy can effectively avoid the secondary pollution.
In one embodiment, before determining the cleaning unit type corresponding to each cleaning unit based on the communication condition of each cleaning unit, the method further includes: determining the position of a charging pile cleaning unit according to the traceless cleaning map, wherein the charging pile cleaning unit is a cleaning unit where the charging pile is located;
based on the communication condition of each cleaning unit, determining the type of the cleaning unit corresponding to each cleaning unit comprises: and determining the type of the cleaning unit corresponding to each cleaning unit according to the position of the charging pile cleaning unit and the communication condition of each cleaning unit.
When the type of the cleaning unit is determined, since the cleaning robot finally needs to return to the charging pile cleaning unit, and the cleaning robot may cause secondary pollution to other cleaning units when returning to the charging pile, the type of the cleaning unit corresponding to each cleaning unit needs to be determined based on the position of the charging pile cleaning unit and the communication condition of each cleaning unit. The specific determination of the type of the cleaning unit is described above and will not be described herein.
As shown in fig. 4, in one embodiment, S100 includes:
s120: acquiring a cleaning task;
s140: and responding to the cleaning task, executing the operation of the traceless cleaning mode, and acquiring a traceless cleaning map corresponding to the traceless cleaning mode.
The cleaning task is a task directly issued by a user or issued remotely, for example, the user A needs to perform whole-house cleaning, the user A operates on a terminal, a whole-house cleaning button is clicked, the terminal sends a whole-house cleaning task request to the cleaning robot, the cleaning robot acquires the whole-house cleaning task, and responds to the task to enter a traceless cleaning mode, the cleaning robot starts to execute the traceless cleaning mode operation, and a traceless cleaning map corresponding to the traceless cleaning mode is acquired.
In one embodiment, the method for generating a cleaning strategy of a cleaning robot further includes:
acquiring a task map corresponding to a cleaning task; matching the task map with a historical map corresponding to the historical operation; if the matching is successful, entering a response cleaning task, executing a seamless cleaning mode operation, and acquiring a seamless cleaning map corresponding to the seamless cleaning mode; if the matching is not successful, then a global clean is performed.
When the cleaning robot acquires the cleaning task, the cleaning task is required to be identified, whether the task map is matched with the history is judged, namely whether the cleaning map is a known map is judged, and if yes, the seamless cleaning mode operation is started; if not, the situation shows that cleaning operation needs to be executed aiming at an unfamiliar environment (map), and as the situation of the whole map is unknown, conservative operation is needed at the moment, and overall cleaning based on the virtual unit is adopted.
As shown in fig. 5, in one embodiment, S500 includes:
s510: generating an initial cleaning sequence according to the cleaning priority of each cleaning unit;
s520: identifying cleaning units of the same priority in an initial cleaning sequence;
s530: acquiring the distance from the charging pile to each cleaning unit with the same priority;
s540: adjusting the cleaning sequence corresponding to each cleaning unit with the same priority according to the distance to correct the initial cleaning sequence to obtain a cleaning sequence, wherein the cleaning units with the same priority corresponding to the farther distance are cleaned earlier;
s550: and generating a cleaning strategy according to the cleaning sequence.
In practical applications, there may be a plurality of cleaning units belonging to the same priority cleaning unit, and continuing with fig. 3 as an example, the cleaning priorities are obtained at S400 as room 1 to room 3 to room 4 to room 2 > room 5 > room 6, and an initial cleaning sequence is generated based on such priorities. Further, the rooms 1 to 3 to 4 to 2 are at the same priority, and the cleaning sequence of the 4 rooms needs to be further determined, specifically, the distances from the charging pile to the rooms 1, 3, 4 and 2 (the cleaning units with the same priority) can be compared, the farther the cleaning is performed, the farthest the room 1 shown in fig. 3 is, the room 1 is the farthest, the room 3 is the next cleaning room, the room 2 is the next cleaning room, and finally the room 4 is the room 1 → 3 → 2 → 4 → 5 → 6, and the cleaning robot generates the cleaning strategy based on the sequence.
To explain the technical solution of the method for generating the cleaning strategy of the cleaning robot for the application for book and the effect thereof in detail, the following description will adopt specific examples, as shown in fig. 6, the whole solution comprises the following steps:
1. starting working in a cleaning mode;
2. calling a historical map and a current environment for matching;
3. judging whether the matching is successful or not, if so, entering the step 4, and if not, entering the step 7;
4. starting a traceless cleaning mode, and judging 4 room types in the map;
5. defining the priority of each type of room;
6. cleaning is started according to the priority, and rooms with the same priority are selected to be the farthest to the near, and are cleaned from the inside to the door of the room;
7. detecting the surrounding map environment, and starting new cleaning by adopting a virtual unit;
8. and (5) finishing cleaning.
Further, in order to fully explain the processing procedure and the effect of the cleaning strategy generating method for the cleaning robot in practical application, the cleaning strategy generated will be further described below by taking the whole house 2 shown in fig. 7 and the whole house 3 shown in fig. 8 as an example, and only the main contents will be described here because the details are described above.
For a whole house 2 as shown in fig. 7, the room 3 and the room 2 are real multi-communication rooms; the room 4 is a non-charging pile and a non-multi-connected room; the room 1 is a charging pile room; the obtained cleaning priority is room 4 > room 2-room 3 > room 1, and the distance from the charging pile to room 2 is longer than the distance from the charging pile to room 3, so that the cleaning priority of room 2 is higher than that of room 3, that is, the cleaning sequence after adjustment is room 4 → room 2 → room 3 → room 1 → the cleaning is completed, and the charging is returned.
For a whole house 3 as shown in fig. 8, the room 3 is a true multi-communication room; the room 2 and the room 4 are non-charging piles and non-multi-connected rooms; the room 5 is a quasi-multi-communication room; the room 1 is a charging pile room; the obtained cleaning priorities are room 4-room 2 > room 5 > room 3 > room 1, the distances from the doorways of the room 4 and the room 2 to the charging pile are equal, one of the rooms is selected to be cleaned preferentially at this time, and if the room 2 is selected to be cleaned preferentially, the adjusted cleaning sequence is room 2 → room 4 → room 5 → room 3 → room 1 → cleaning is completed, and charging is returned; if the cleaning priority room 4 is selected, the adjusted cleaning sequence is room 4 → room 2 → room 5 → room 3 → room 1 → cleaning is completed, and the charging is returned.
It should be understood that, although the steps in the flowcharts are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in each of the flowcharts described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
As shown in fig. 9, the present application also provides a cleaning robot cleaning strategy generating apparatus, the apparatus including:
the map acquisition module 100 is configured to acquire a traceless clean map corresponding to the traceless clean mode;
the communication identification module 200 is used for identifying the communication condition of each cleaning unit according to the traceless cleaning map;
the type identification module 300 is used for determining the cleaning unit type corresponding to each cleaning unit based on the communication condition of each cleaning unit;
a priority determination module 400, configured to determine a cleaning priority of each cleaning unit according to a cleaning unit type corresponding to each cleaning unit and a preset cleaning unit type priority rule, where the preset cleaning unit type priority rule is set for the purpose of avoiding secondary pollution;
a strategy generation module 500 for generating a cleaning strategy according to the cleaning priority of each cleaning unit.
The cleaning strategy generating device of the cleaning robot acquires a traceless cleaning map corresponding to a traceless cleaning mode; identifying the communication condition of each cleaning unit according to the traceless cleaning map; determining the type of the cleaning unit corresponding to each cleaning unit based on the communication condition of each cleaning unit; determining the cleaning priority of each cleaning unit according to the cleaning unit type corresponding to each cleaning unit and a preset cleaning unit type priority rule, wherein the preset cleaning unit type priority rule is set based on the purpose of avoiding secondary pollution; and generating a cleaning strategy according to the cleaning priority of each cleaning unit. In the whole process, the cleaning unit type corresponding to each cleaning unit is determined based on the communication condition of each cleaning unit, the cleaning priority of each cleaning unit is determined with the aim of avoiding secondary pollution, and the generated cleaning strategy can effectively avoid the secondary pollution.
In one embodiment, the type identification module 300 is further configured to determine a charging pile cleaning unit location according to the traceless cleaning map, where the charging pile cleaning unit is located; and determining the type of the cleaning unit corresponding to each cleaning unit according to the position of the charging pile cleaning unit and the communication condition of each cleaning unit.
In one embodiment, the cleaning unit types include a charging pile cleaning unit, a non-charging pile and non-multiple communication cleaning unit, a real multiple communication cleaning unit and a quasi multiple communication cleaning unit; real many clean units that ally oneself with are for having a plurality of passageways and with fill the clean unit of the direct UNICOM of electric pile clean unit, accurate many clean units that ally oneself with are for having a plurality of passageways and not with the clean unit of the direct UNICOM of electric pile clean unit.
In one embodiment, the preset cleaning unit type priority rule represents that the priority is a non-charging pile, the priority is a first priority for a non-multi-communication cleaning unit, the priority is a second priority for a quasi-multi-communication cleaning unit, the priority is a third priority for a true multi-communication cleaning unit, and the priority is a fourth priority for a charging pile cleaning unit; the priorities corresponding to the first priority, the second priority, the third priority and the fourth priority are sequentially reduced.
In one embodiment, the map retrieval module 100 is further configured to retrieve a cleaning task; and responding to the cleaning task, executing the operation of the traceless cleaning mode, and acquiring a traceless cleaning map corresponding to the traceless cleaning mode.
In one embodiment, the map obtaining module 100 is further configured to obtain a task map corresponding to the cleaning task; matching the task map with a historical map corresponding to the historical operation; if the matching is successful, entering a response cleaning task, executing a traceless cleaning mode operation, and obtaining a traceless cleaning map corresponding to the traceless cleaning mode; if the matching is not successful, then a global clean is performed.
In one embodiment, the strategy generation module 500 is further configured to generate an initial cleaning sequence according to the cleaning priority of each cleaning unit; identifying cleaning units of the same priority in an initial cleaning sequence; acquiring the distance from the charging pile to each cleaning unit with the same priority; adjusting the cleaning sequence corresponding to each cleaning unit with the same priority according to the distance to correct the initial cleaning sequence to obtain a cleaning sequence, wherein the cleaning units with the same priority corresponding to the farther distance are cleaned earlier; and generating a cleaning strategy according to the cleaning sequence.
For a specific embodiment of the cleaning robot cleaning strategy generating device, reference may be made to the above embodiments of the cleaning robot cleaning strategy generating method, which are not described herein again. The modules in the cleaning robot cleaning strategy generating apparatus may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 10. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a cleaning robot cleaning strategy generation method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring a traceless cleaning map corresponding to the traceless cleaning mode;
identifying the communication condition of each cleaning unit according to the traceless cleaning map;
determining the type of the cleaning unit corresponding to each cleaning unit based on the communication condition of each cleaning unit;
determining the cleaning priority of each cleaning unit according to the cleaning unit type corresponding to each cleaning unit and a preset cleaning unit type priority rule, wherein the preset cleaning unit type priority rule is set based on the purpose of avoiding secondary pollution;
and generating a cleaning strategy according to the cleaning priority of each cleaning unit.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining the position of a charging pile cleaning unit according to the traceless cleaning map, wherein the charging pile cleaning unit is a cleaning unit where the charging pile is located; and determining the type of the cleaning unit corresponding to each cleaning unit according to the position of the charging pile cleaning unit and the communication condition of each cleaning unit.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a cleaning task; and responding to the cleaning task, executing the operation of the traceless cleaning mode, and acquiring a traceless cleaning map corresponding to the traceless cleaning mode.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a task map corresponding to a cleaning task; matching the task map with a historical map corresponding to the historical operation; if the matching is successful, entering a response cleaning task, executing a seamless cleaning mode operation, and acquiring a seamless cleaning map corresponding to the seamless cleaning mode; if the matching is not successful, then a global clean is performed.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
generating an initial cleaning sequence according to the cleaning priority of each cleaning unit; identifying cleaning units of the same priority in an initial cleaning sequence; acquiring the distance from the charging pile to each cleaning unit with the same priority; adjusting the cleaning sequence corresponding to each cleaning unit with the same priority according to the distance to correct the initial cleaning sequence to obtain a cleaning sequence, wherein the cleaning units with the same priority corresponding to the farther distance are cleaned earlier; and generating a cleaning strategy according to the cleaning sequence.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring a traceless cleaning map corresponding to the traceless cleaning mode;
identifying the communication condition of each cleaning unit according to the traceless cleaning map;
determining the type of the cleaning unit corresponding to each cleaning unit based on the communication condition of each cleaning unit;
determining the cleaning priority of each cleaning unit according to the cleaning unit type corresponding to each cleaning unit and a preset cleaning unit type priority rule, wherein the preset cleaning unit type priority rule is set based on the purpose of avoiding secondary pollution;
and generating a cleaning strategy according to the cleaning priority of each cleaning unit.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining the position of a charging pile cleaning unit according to the traceless cleaning map, wherein the charging pile cleaning unit is a cleaning unit where the charging pile is located; and determining the type of the cleaning unit corresponding to each cleaning unit according to the position of the charging pile cleaning unit and the communication condition of each cleaning unit.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a cleaning task; and responding to the cleaning task, executing the operation of the traceless cleaning mode, and acquiring a traceless cleaning map corresponding to the traceless cleaning mode.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a task map corresponding to a cleaning task; matching the task map with a historical map corresponding to the historical operation; if the matching is successful, entering a response cleaning task, executing a seamless cleaning mode operation, and acquiring a seamless cleaning map corresponding to the seamless cleaning mode; if the matching is not successful, then a global clean is performed.
In one embodiment, the computer program when executed by the processor further performs the steps of:
generating an initial cleaning sequence according to the cleaning priority of each cleaning unit; identifying cleaning units of the same priority in an initial cleaning sequence; acquiring the distance from the charging pile to each cleaning unit with the same priority; adjusting the cleaning sequence corresponding to each cleaning unit with the same priority according to the distance to correct the initial cleaning sequence to obtain a cleaning sequence, wherein the cleaning units with the same priority corresponding to the farther distance are cleaned earlier; and generating a cleaning strategy according to the cleaning sequence.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A cleaning robot cleaning strategy generation method, characterized in that the method comprises:
acquiring a traceless cleaning map corresponding to the traceless cleaning mode;
identifying the communication condition of each cleaning unit according to the traceless cleaning map;
determining the type of the cleaning unit corresponding to each cleaning unit based on the communication condition of each cleaning unit;
determining the cleaning priority of each cleaning unit according to the cleaning unit type corresponding to each cleaning unit and a preset cleaning unit type priority rule, wherein the preset cleaning unit type priority rule is set based on the purpose of avoiding secondary pollution;
and generating a cleaning strategy according to the cleaning priority of each cleaning unit.
2. The method according to claim 1, wherein before determining the cleaning unit type corresponding to each cleaning unit based on the communication status of each cleaning unit, the method further comprises:
determining the position of a charging pile cleaning unit according to the traceless cleaning map, wherein the charging pile cleaning unit is a cleaning unit where the charging pile is located;
the determining the type of the cleaning unit corresponding to each cleaning unit based on the communication condition of each cleaning unit comprises:
and determining the cleaning unit type corresponding to each cleaning unit according to the position of the charging pile cleaning unit and the communication condition of each cleaning unit.
3. The method according to claim 1 or 2, wherein the cleaning unit types comprise charging pile cleaning units, non-charging pile and non-multiple communication cleaning units, true multiple communication cleaning units and quasi multiple communication cleaning units;
the clean unit that real ally oneself with more for having a plurality of passageways and with fill the clean unit direct UNICOM of electric pile, the clean unit that accurate ally oneself with more for having a plurality of passageways and not with fill the clean unit direct UNICOM of electric pile.
4. The method of claim 3, wherein the preset cleaning unit type priority rules characterize the priorities of the non-charging pile and non-multi-communication cleaning unit as a first priority, the quasi-multi-communication cleaning unit as a second priority, the true multi-communication cleaning unit as a third priority, and the charging pile cleaning unit as a fourth priority; the priorities corresponding to the first priority, the second priority, the third priority and the fourth priority are sequentially reduced.
5. The method of claim 1, wherein the obtaining a traceless cleaning map corresponding to a traceless cleaning mode comprises:
acquiring a cleaning task;
responding to the cleaning task, executing the operation of the traceless cleaning mode, and acquiring a traceless cleaning map corresponding to the traceless cleaning mode.
6. The method of claim 5, further comprising:
acquiring a task map corresponding to the cleaning task;
matching the task map with a historical map corresponding to historical operation;
if the matching is successful, entering the step of responding to the cleaning task, executing the operation of the traceless cleaning mode, and acquiring a traceless cleaning map corresponding to the traceless cleaning mode;
if the matching is not successful, then a global clean is performed.
7. The method of claim 1, wherein generating a cleaning strategy based on the cleaning priorities of the cleaning units comprises:
generating an initial cleaning sequence according to the cleaning priority of each cleaning unit;
identifying cleaning units of the same priority in the initial cleaning sequence;
acquiring the distance from a charging pile to each cleaning unit with the same priority;
adjusting the cleaning sequence corresponding to each cleaning unit with the same priority according to the distance to correct the initial cleaning sequence to obtain a cleaning sequence, wherein the cleaning units with the same priority corresponding to the farther distance are cleaned earlier;
and generating a cleaning strategy according to the cleaning sequence.
8. A cleaning robot cleaning strategy generation apparatus, characterized in that the apparatus comprises:
the map acquisition module is used for acquiring a traceless clean map corresponding to the traceless clean mode;
the communication identification module is used for identifying the communication condition of each cleaning unit according to the traceless cleaning map;
the type identification module is used for determining the type of the cleaning unit corresponding to each cleaning unit based on the communication condition of each cleaning unit;
the priority determining module is used for determining the cleaning priority of each cleaning unit according to the cleaning unit type corresponding to each cleaning unit and a preset cleaning unit type priority rule, wherein the preset cleaning unit type priority rule is set based on the purpose of avoiding secondary pollution;
and the strategy generation module is used for generating a cleaning strategy according to the cleaning priority of each cleaning unit.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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